version: 66.13
glider: 401
mission: 22
dive: 1862
start: 8 28 117 15 14 41
data:
$ID,401
$MISSION,22
$DIVE,1862
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,19
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,600
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,280817,145255,6040.1890,-17344.7090,9,0.8,38,7.0,0.5,174.5,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-5.5
$GPS2,280817,145255,6040.1890,-17344.7090,9,0.8,38,7.0,0.5,174.5,10,4.9
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W19S
$TGT_LATLONG,6025.500,-17335.520
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,155.8,28471,-10.3,-10.526,-13.92,8308
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,11,-1.82,-585.0,2387,1935,2374,4093,0.0,0.0,0,22,6.38,0.00,-2.03,0.000,20482,0.024,0.000,1758,1935,2597,2597,4094,0,0,0,0,0,0,26.17,28.83,26.22,10.34,53.15
$GC,27,-1.82,-585.0,1757,1935,2597,4094,0.1,0.0,1,37,0.00,0.00,-5.38,0.000,16390,0.000,0.000,1758,1935,3171,3171,4095,0,0,0,0,0,0,26.42,24.54,26.43,10.39,52.59
$GC,75,-1.82,-585.0,1757,1935,3172,4095,2.6,-9.9,7,84,0.00,1.02,0.00,0.000,516,0.000,0.054,1758,1534,3172,3172,4095,0,0,0,0,0,0,26.40,25.96,26.41,10.51,52.67
$GC,181,-1.82,-585.0,1757,1534,3175,4095,18.8,-12.3,22,191,0.00,1.00,0.00,0.000,1030,0.000,0.026,1757,1962,3175,3175,4095,0,0,0,0,0,0,26.20,26.18,26.22,10.52,52.24
$GC,231,-1.82,-585.0,1757,1962,3175,4095,24.7,-11.8,28,240,0.00,1.05,0.00,0.000,260,0.000,0.044,1758,2365,3176,3176,4094,0,0,0,0,0,0,26.49,26.07,26.51,10.50,52.36
$GC,305,-1.82,-585.0,1757,2365,3177,4094,31.4,-9.7,38,315,0.00,1.00,0.00,0.000,1030,0.000,0.030,1758,1966,3177,3177,4094,0,0,0,0,0,0,26.20,26.18,26.24,10.46,50.82
$GC,354,-1.82,-585.0,1756,1966,3178,4094,36.5,-10.5,44,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1965,3178,3178,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.45,50.39
$GC,401,-1.82,-585.0,1757,1966,3179,4095,41.5,-10.6,50,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1966,3179,3179,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.43,50.03
$GC,449,-1.82,-585.0,1757,1966,3180,4094,46.5,-10.4,56,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1966,3180,3180,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.42,49.01
$GC,497,-1.82,-585.0,1757,1966,3181,4095,51.5,-10.3,62,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1966,3180,3180,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.42,48.50
$GC,545,-1.82,-585.0,1757,1966,3182,4095,56.5,-10.2,68,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1966,3182,3182,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.41,48.93
$STATE,581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,581,begin apogee
$GC,592,-0.45,0.0,1757,2148,3183,4094,60.6,-9.8,73,636,4.50,0.00,33.47,1.321,10244,0.043,0.000,2189,2148,2485,2485,4094,0,0,0,0,0,0,26.27,24.93,24.15,10.40,48.38
$STATE,637,end apogee,CONTROL_FINISHED_OK
$STATE,637,begin climb
$GC,642,1.82,585.0,2188,2148,2485,4094,65.0,0.0,78,687,7.57,0.00,33.45,1.301,11270,0.028,0.000,2903,2148,1802,1802,4094,0,0,0,0,0,0,25.54,25.72,23.72,10.26,47.20
$GC,728,1.82,585.0,2903,2148,1801,4094,59.8,11.1,88,737,0.00,1.17,0.00,0.000,516,0.000,0.044,2904,1715,1801,1801,4094,0,0,0,0,0,0,25.50,25.18,25.51,10.11,46.37
$GC,887,1.82,585.0,2903,1714,1796,4094,39.8,13.9,111,896,0.00,0.90,0.00,0.000,1030,0.000,0.028,2904,2085,1796,1796,4094,0,0,0,0,0,0,25.76,25.73,25.78,10.10,47.63
$GC,937,1.82,585.0,2903,2085,1795,4094,33.3,13.8,117,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2085,1794,1794,4094,0,0,0,0,0,0,26.11,26.12,26.12,10.09,47.91
$GC,985,1.82,585.0,2903,2085,1793,4094,27.1,12.2,123,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2085,1793,1793,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.10,48.89
$GC,1034,1.82,585.0,2903,2085,1792,4094,21.3,11.5,129,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2085,1791,1791,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.11,49.17
$GC,1083,1.82,585.0,2903,2085,1790,4094,16.1,10.7,135,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2085,1790,1790,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.15,50.66
$GC,1132,1.82,589.7,2903,2085,1790,4094,11.0,10.5,141,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2085,1789,1789,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.17,51.89
$GC,1181,1.90,641.7,2903,2085,1788,4094,5.9,9.9,147,1191,0.17,0.00,4.10,0.392,10246,0.051,0.000,2932,2085,1734,1734,4094,0,0,0,0,0,0,26.15,25.60,24.75,10.18,52.48
$STATE,1211,end climb,FINISH_DEPTH_REACHED
$STATE,1212,begin subsurface finish
$FINISH1,1.7,1.024194,98
$GC,1224,0.15,97.9,2931,2142,1733,4094,1.7,11.1,151,1242,5.53,0.00,-5.68,0.000,20486,0.022,0.000,2386,2150,2374,2374,4094,0,0,0,0,0,0,26.10,25.41,26.14,10.18,53.30
$FINISH2,0.1
$STATE,1243,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1244,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,144137
$TT8_MAMPS,0.026215,0.252413
$HUMID,52.91
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.72,53.576
$10V_AH,10.14,51.019
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.150,7.125,71.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,426.973,0.000,124.948,639.620,114.355,0.000,374.838,0.000,371.190,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,116.280,1321.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.053,415.639,329.011,487.717,637.888,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,14294,153
$CAP_FILE_SIZE,28025,0
$CFSIZE,1024409600,927989760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,145255,6040.189,-17344.709,9,0.8,38,7.0,0.5,174.5,10,4.9